Disc gripper for storage discs

ABSTRACT

An apparatus includes a motor configured to drive a driving element within a housing. A caliper is connected to the housing and configured to force a first jaw device toward a second jaw device based on movement of the driving element. A disc sensor is configured to sense presence of a storage disc and to limit insertion travel of a storage disc between the first jaw device and the second jaw device. The first jaw device and the second jaw device form a gripper device configured to clamp a particular portion of a storage disc.

BACKGROUND

Disc libraries require a disc retrieval unit (DRU) to move discs betweenstorage locations and the drives that read and write the data on thediscs. This DRU must incorporate means to obtain a disc at a pickuplocation and release the disc at its destination location.

SUMMARY

Embodiments of the invention relate to transport of storage discs indisc storage systems. In one embodiment, an apparatus includes a motorconfigured to drive a driving element within a housing. A caliper isconnected to the housing and configured to force a first jaw devicetoward a second jaw device based on movement of the driving element. Adisc sensor is configured to sense presence of a storage disc and tolimit insertion travel of a storage disc between the first jaw deviceand the second jaw device. The first jaw device and the second jawdevice form a gripper device configured to clamp a particular portion ofa storage disc.

These and other features, aspects and advantages of the presentinvention will become understood with reference to the followingdescription, appended claims and accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a high performance optical storage system that may implement adisc gripper device, according to an embodiment;

FIG. 2 is shows a disc gripper device, according to an embodiment;

FIG. 3 shows a bottom view of the disc gripper device of FIG. 2,according to an embodiment;

FIG. 4 shows a cross-sectional view of the disc gripper device of FIG.2, according to an embodiment;

FIG. 5 is a longitudinal cross-section of a disc gripper device of FIG.2 shown closed on a disc, according to an embodiment; and

FIG. 6 shows control circuitry and electronics that may be implementedfor the disc gripper device of FIG. 2 for the high performance opticalstorage system of FIG. 1, according to an embodiment.

DETAILED DESCRIPTION

The descriptions of the various embodiments of the present inventionhave been presented for purposes of illustration, but are not intendedto be exhaustive or limited to the embodiments disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of the describedembodiments. The terminology used herein was chosen to best explain theprinciples of the embodiments, the practical application or technicalimprovement over technologies found in the marketplace, or to enableothers of ordinary skill in the art to understand the embodimentsdisclosed herein.

One or more embodiments include a disc gripper device that contacts astorage disc (e.g., an optical disc, etc.) only over a limited angularrange in a narrow band near its outer edge. This allows the disc gripperto hold the disc until a disc retrieval unit (DRU) positions it in thedesired location, such as a disc drive, a disc holder (e.g., a disccassette), etc. In one embodiment, the disc gripper device maintains itshold on a disc in the absence of applied power and holds the discsecurely enough to allow it to be accelerated rapidly. The disc gripperdevice further includes features to enable sensing the presence orabsence of a disc.

One or more embodiments provide a disc gripper device for use in a disclibrary that holds a single disc as it is moved (without cartridge orother containing structure) directly between a library storage locationand the hub of an appropriate disc drive. In one example, the discgripper has a pair of jaw devices that clamp opposite surfaces of astorage disc within 2 mm or less of the disc outer edge, over an angularsector of less than 45° (as measured from the disc center). In oneembodiment, a screw-driven actuator is used to move the pair of jaws toclamp the storage disc. Once the pair of jaws are closed on a storagedisc, it is held tightly with no current supplied to the actuator. Torelease a storage disc, the actuator motor is reversed and the pair ofjaws are positively driven to open. A disc sensor lever between the pairof jaws limits the depth to which a disc can enter, and pivots whenpushed on by a storage disc so its position indicates the presence orabsence of a disc. In one example, a spring positively moves the sensorlever to its “no disc present” position when the storage disc isreleased by the disc gripper device. In one example, the sensor leveralso limits the extent to which the jaw devices can close. In otherexamples, alternative sensor arrangements are possible, such as the discitself interrupts or reflects an optical beam, or contacts and actuatesa switch to indicate the presence or absence of a disc in the discgripper device. In one embodiment, the disc gripper may be mounted withsufficient compliance so discs entering the jaw devices laterally can bepositioned to have slight vertical interference with the sensor lever,and will thus press against it with some net force, when the lever is inits limiting (“disc present”) position.

FIG. 1 is a high performance optical storage system 100 that mayimplement a disc gripper device 200 (FIG. 2), according to anembodiment. In one embodiment, the high performance optical storagesystem 100 includes an enclosure 110, a moveable arm 120 connected to aDRU 125 that includes a disc gripper device 200 (FIG. 2), multipleoptical disc drives 130, multiple optical disc-based media (discs) 140,disc cassettes 150, and tracks 160 and 165 that hold the disc cassettes150 in place. In one embodiment, the enclosure 110 provides a stableplatform and protection from the environment. In one example, theenclosure includes filter material connected to cooling fans (not shown)and a top enclosure (not shown for internal viewing). In one embodiment,the enclosure may be sized as a typical 19-inch rack mounted device withrack mounting connectors. Depending on the space and enclosure sizechosen, the enclosure 110 may have a greater capacity of optical discdrives 130, disc cassettes 150, and thus, discs 140. In one example, thedisc cassettes 150 are placed within the enclosure 110 on either side(e.g., left and right sides) of the enclosure 110. In one example,additional disc cassettes 150 and discs 140 space is available adjacentthe disc drives 130 (e.g., towards the front of the enclosure 110). Inwider enclosures 110, more disc drives 130 may be positioned adjacenteach other on the left and right side of the enclosure 110 when moreavailable space for disc drives 130 is available. In one embodiment, themoveable arm 120 moves using motors and gears on tracks within theenclosure 110 to move the DRU 125 from the back of the enclosure 110 tothe front of the enclosure 110. The DRU 125 is moveable to either sideof the enclosure 110 to retrieve a disc 140 using the disc gripperdevice 200 for placement in a disc drive 130 or for replacement back toa disc cassette 150. In other embodiments, other configurations ofstored discs 140, disc drives 130 and the DRU 125 may be used foremployment of the disc gripper device 200 for disc placement, transportand loading (e.g., into a disc drive 130, into a disc holder or cassette150), etc.

FIG. 2 is shows a disc gripper device 200, according to an embodiment.In one embodiment, the disc gripper device 200 includes a housing orbody 210, a caliper 220, a vertical jaw device chamfer 230, a pair ofjaw devices 240, a lateral jaw device chamfer 250, a disc sensor lever260, a motor 270, guide pin(s) 280, caliper pins 290 and caliper rollers295. In one embodiment, the pair of device 240 are shaped to contactonly a thin sector close to the edge of a storage disc 410 (FIG. 4),slide towards or away from each other on the pair of guide pins 280supported by the disc gripper housing 210. The jaw devices 240 aredriven closer together by the calipers 220 incorporating caliper rollers295 on each side that contact ramps 310 (FIG. 3) on the outer surfacesof the jaw devices 240. The position of the storage disc in the jawdevices 240 is limited by a storage disc (e.g., storage disc 140, FIG.1, storage disc 410, FIG. 4) contacting and moving the disc sensor lever260. In an embodiment the position of the storage disc in the jawdevices 240 is limited by a storage disc (e.g., storage disc 140, FIG.1, storage disc 410, FIG. 4) contacting the inner vertical edges(vertical jaw device chamfer 230) and lateral edges (lateral jaw devicechamfer 250) of the disc gripper device 200 jaw devices 240 arechamfered to guide and align entering storage discs (e.g., storage disc140, FIG. 1, storage disc 410, FIG. 4).

FIG. 3 shows a bottom view of the disc gripper device 200 of FIG. 2,according to an embodiment. As shown, the disc gripper device 200includes the contact ramps 310 and limiting angled elements 320. Whenthe motor 270 is powered, the drive element 420 (e.g., a drive screw)(FIG. 4) is caused to move, which causes the contact ramps 310 tocontact the caliper rollers 295 which move the caliper 220 further fromthe motor 270. This movement forces the contact ramps 310 against thecaliper rollers 295 causes the jaw devices 240 to move toward oneanother for clamping a storage disc (e.g., storage disc 140, FIG. 1,storage disc 410, FIG. 4). It is obvious to one of ordinary skill in theart that both calipers can be moved towards each other or one calipercan be fixed as the other caliper is moved towards the other. Theirreversible nature of the drive element 420 (e.g., a drive screw) (FIG.4) sustains the clamping position of jaw devices 240. When the motor ispowered to move the calipers 220 away from the motor 270, the force onthe contact ramps 310 from the caliper rollers 295 is removed, whichcauses the jaw devices 240 to separate and release a clamped storagedisc (e.g., storage disc 140, FIG. 1, storage disc 410, FIG. 4).Therefore, it can be seen that when a storage disc is clamped, no poweris required to maintain the jaw devices 240 from clamping a storagedisc.

FIG. 4 shows a cross sectional view of the disc gripper device 200 ofFIG. 2, according to an embodiment. As shown, the jaw devices 240 areclosed on a storage disc 410. In one embodiment, the jaw devices 240contact only the outermost 1.5 mm of the storage disc 410. The depth ofdisc 410 in the disc gripper device 200 is limited by the disc sensorlever 260 portion 430 between the jaw devices 240. Also shown is thedrive element 420 and a support bearing 425.

FIG. 5 is a longitudinal cross-section of the disc gripper device 200 ofFIG. 2 shown closed on a disc 410, according to an embodiment. As shown,the disc gripper device 200 is closed on a disc 410. In one embodiment,the disc sensor lever 260 incorporates a spring portion 520. When a disc410 is not present, the disc sensor lever 260 pivots on the pin to theright of the disc sensor lever 260, lowering the left end of the discsensor lever 260 and the flag portion 525 of the disc sensor lever 260.With the flag portion 525 lower, the disc sensor lever 260 will indicatethat no disc 410 is present. A threaded caliper boss 510 engages drivescrew 420. As shown, the disc 410 and the disc sensor lever 260 areshown in their limiting “disc present” positions. In another embodimentthe position of the storage disc in the jaw devices 240 is limited by astorage disc (e.g., storage disc 140, FIG. 1, storage disc 410, FIG. 4)contacting a component of disc gripper device 200, e.g., the threadedcaliper boss 510 and disc gripper housing 210. A sensing device (e.g. acurrent limiter on a disc kicker device motor(s), or an encoder on adisc kicker device motor(s) 644, FIG. 6) on the DRU 125 senses when thestorage disc is at the extent of its travel into the jaw devices 240 bypreventing the disc kicker device motor from operating beyond a presetelectrical current limit threshold.

FIG. 3 shows an alternative embodiment with one moving jaw driven by acaliper and a second fixed jaw. As shown, the disc gripper device 200includes the contact ramps 310 and limiting angled elements 320. Thecontact ramps 320 contact the caliper rollers 280 when the motor 270 ispowered to move the caliper 220 away from the disc sensor lever 260, thedrive element 420 (FIG. 4) is caused to move. This movement forces thecontact ramps 320 against the caliper rollers 280 causes the jaw device240 to move toward the fixed jaw for clamping a storage disc (e.g.,storage disc 140, FIG. 1, storage disc 410, FIG. 4). When the motor ispowered to move the caliper 220 toward the disc sensor lever 260, theforce on the contact ramps 320 from the caliper rollers 280 is removed,which causes the jaw device 240 to separate from the fixed jaw andrelease a clamped storage disc (e.g., storage disc 140, FIG. 1, storagedisc 410, FIG. 4). Therefore, it can be seen that when a storage disc isclamped, no power is required to maintain the jaw devices 240 fromclamping a storage disc.

It will be well understood that other driving mechanisms may be used,such as solenoids, springs, etc.

FIG. 6 shows control circuitry and electronics 600 that may beimplemented for the disc gripper device 200 (FIG. 2) for the highperformance optical storage system of FIG. 1, according to anembodiment. In one embodiment, optical sensors of the sensor set 620 areused in the system to provide contactless position information forvarious moving components. In one example, optical sensors of the sensorset 620 on the disc carrier of the DRU 125 combined with the features ofthe disc cassettes 150 and the disc drives 130 allow the disc gripperdevice 200 to be positioned to within +−0.1 mm. Other sensors of thesensor set 620 are used to sense location of a disc kicker device of theDRU 125, whether a disc (e.g., storage disc 140, FIG. 1) is in the discgripper device 200, the lateral position of the disc gripper device 200,etc. Sensors of the sensor set 620 may be used in concert with featureson the disc cassettes 150 to facilitate positioning of the DRU 125 atdisc locations. Other examples include referring to the discsthemselves. Similarly, features may be disposed on the enclosure 110 orthe disc drives 130 to facilitate accurate positioning of the DRU 125when loading and unloading discs 140 from the disc drives 130. Inanother example, transmissive photointerrupter sensors may be utilizedfor position state sensing of the various components. The motors used inthe system may be of the brushless DC type, optionally with shaftencoders to aid in position determination. In one example, the motorsmay include the DRU 125 longitudinal motor(s) 641, the disc gripperdevice 200 lateral motor(s) 642, the disc gripper device 200 motor 643(also referring to motor 270, FIG. 2), the disc kicker device motor(s)644, etc.

In one embodiment, the control electronics shown in the controlcircuitry and electronics 600 are partitioned into a robotic controller(the disc carrier controller 630) on the disc carrier and an enclosurecontroller 610 otherwise mounted in the enclosure 110 (FIG. 1). Thelatter does not move, and includes a CPU 612, memory 611 and associatedcomponents for running the control software. In one example the controlcircuitry and electronics 600 includes local storage for holding theoperating system and the control software, although in another examplemay instead boot over a network and load the necessary software, or evenboot off the optical media of a disc. In another example, flash memorystorage is implemented. The enclosure controller 610 includes both theexternal interface to a host system or network as well as interfaces(SATA 613, storage interface 616) to the disc drives 130, collectivelyshown as a set 617. In one example, the external interface may include anetwork interface, such as Ethernet. In one embodiment, for enhancedreliability, the network interface would include two connections, suchas Ethernet connections 614 and 615 with each directed to a separateswitch. In another example, a third external interface might be used forsystem control and monitoring.

In one embodiment, the enclosure controller 610 is responsive tocommands over the external interface to load a disc 140, read and writedata, and perform other operations. In one example, the enclosurecontroller 610 communicates with the robotic controller (disc carriercontroller 630) to send commands, such as to load a selected disc 140(FIG. 1) in a selected disc drive 130. The enclosure controller 610 alsoincludes a data buffer for holding read and write data during datatransfers.

In one embodiment, the robotic controller (disc carrier controller 630)manages the robotic activities of the high performance optical storagesystem 100, including controlling the motors, reading optical and othersensor data and communicating state information with the enclosurecontroller 610. In one embodiment, the robotic controller (disc carriercontroller 630) communicates with the enclosure controller 610 over aserial interface. The interface may be wired, such as universal serialbus (USB) over a flex cable, or wireless, such as infrared dataassociation (IRDA), BLUETOOTH®, etc. In one example, on initialization,it is critical for the disc carrier controller 630 to determine thephysical state of the high performance optical storage system 100 toprevent damage. If the high performance optical storage system 100 hasundergone a controlled shutdown, this state information may be recordedwithin the library. Even so, this shutdown state needs to be confirmed.The high performance optical storage system 100 may have been powereddown in an unknown state, such as by an unintended power loss. Forexample, before the DRU 125 can move longitudinally, the highperformance optical storage system 100 must determine if a disc is inthe disc gripper device 200 and if so, position the disc gripper device200 within the drive carrier prior to a longitudinal move. In oneembodiment, the sensors set 620 includes sensors to detect if the discgripper device 200 is centered, or to the left or right of center. Thus,the disc gripper device 200 can be moved directly to the centerposition. Similarly, sensors of the sensor set 620 are provided todetermine if the disc kicker device is centered, or to the left or rightof center. Once both disc gripper device 200 and disc kicker device arecentered, the DRU 125 may be moved longitudinally. All these functionsare accomplished through means of the set of sensors 620. In oneembodiment, optical sensors are used to make the positiondeterminations.

In one embodiment, the high performance optical storage system 100determines if discs are located within any of the disc drives 130. Thedisc drives 130 may be queried to see if a disc is loaded and spindle ofa disc drive 130 clamped. It is possible for a disc to remain in a discdrive 130 but not be clamped by the spindle. This can be tested byattempting a clamp operation.

In one embodiment, an inventory manger is implemented that includesmetadata for each disc 140 in the high performance optical storagesystem 100. In one example, the metadata may include the media type, badblock table or other initialization information, location of the discwithin the enclosure 110, etc. The high performance optical storagesystem 100 can transmit this initialization information to a disc drive130 upon the load operation, which substantially shortens the startuptime. The inventory manager also queries the disc drive 130 on unload toobtain updates to the media.

In one example, metadata, such as changes in the bad block information,is stored by the inventory manager in nonvolatile storage which may beexternal to the high performance optical storage system 100. Any systemmetadata can be periodically flushed to specific locations on the mediain the library to create self-described system state, such as forrelocating a system. Alternatively, the metadata may be stored on othernonvolatile media in the enclosure controller 610.

In one embodiment, the high performance optical storage system 100software includes a library executive, which is responsive to read,write, mount and dismount commands from a host system. The libraryexecutive forwards mount and dismount commands and information to thedisc carrier controller 630. The mount command information includes thedisc location in the disc cassette 150 to select and the disc drive 130to load. The dismount command information includes information on thedisc drive 130 to unload and the target location for storing the disc140 in the disc cassette 150.

As will be appreciated by one skilled in the art, aspects of the presentinvention may be a system, a method, and/or a computer program productat any possible technical detail level of integration. The computerprogram product may include a computer readable storage medium (ormedia) having computer readable program instructions thereon for causinga processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, configuration data for integrated circuitry, oreither source code or object code written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Smalltalk, C++, or the like, and procedural programminglanguages, such as the “C” programming language or similar programminglanguages. The computer readable program instructions may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider). In some embodiments, electronic circuitry including,for example, programmable logic circuitry, field-programmable gatearrays (FPGA), or programmable logic arrays (PLA) may execute thecomputer readable program instructions by utilizing state information ofthe computer readable program instructions to personalize the electroniccircuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the blocks may occur out of theorder noted in the Figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

References in the claims to an element in the singular is not intendedto mean “one and only” unless explicitly so stated, but rather “one ormore.” All structural and functional equivalents to the elements of theabove-described exemplary embodiment that are currently known or latercome to be known to those of ordinary skill in the art are intended tobe encompassed by the present claims. No claim element herein is to beconstrued under the provisions of 35 U.S.C. section 112, sixthparagraph, unless the element is expressly recited using the phrase“means for” or “step for.”

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention. Asused herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The corresponding structures, materials, acts, and equivalents of allmeans or step plus function elements in the claims below are intended toinclude any structure, material, or act for performing the function incombination with other claimed elements as specifically claimed. Thedescription of the present invention has been presented for purposes ofillustration and description, but is not intended to be exhaustive orlimited to the invention in the form disclosed. Many modifications andvariations will be apparent to those of ordinary skill in the artwithout departing from the scope and spirit of the invention. Theembodiment was chosen and described in order to best explain theprinciples of the invention and the practical application, and to enableothers of ordinary skill in the art to understand the invention forvarious embodiments with various modifications as are suited to theparticular use contemplated.

What is claimed is:
 1. An apparatus comprising: a motor configured todrive a driving element within a housing; a caliper coupled to thehousing and configured to force a first jaw device toward a second jawdevice based on movement of the driving element; and a disc sensorconfigured to sense presence of a storage disc between the first jawdevice and the second jaw device, wherein the first jaw device and thesecond jaw device form a gripper device configured to clamp a particularportion of a storage disc comprising an arc segment along an outer edgeof adjacent surfaces of the storage disc.
 2. The apparatus of claim 1,wherein the particular portion is a data free surface of a storage disc,and the apparatus is configured to clamp and release storage discs in adisc storage system.
 3. The apparatus of claim 1, wherein the gripperdevice is limited based on the disc sensor to contact a storage discsurface within 2 mm of an outer edge of the storage disc.
 4. Theapparatus of claim 1, wherein the first jaw device and the second jawdevice each having a shape: configured to limit a contact area, asubtended angle, and edges chamfered to guide and align a storage discentering between the first jaw device and the second jaw devicevertically or laterally.
 5. The apparatus of claim 1, wherein power isapplied to a driving element both to release and to grip a storage discby the gripper device, and the storage disc remains released or clampedin an absence of power applied to the motor.
 6. The apparatus of claim5, wherein the driving element comprises a drive screw configured tomove the caliper with one or more of rollers and pins that contact wedgeramps of each of the first jaw device and the second jaw device to applyor release pressure on the storage disc front and back surfaces.
 7. Theapparatus of claim 1, wherein: depth of a storage disc in the discgripper device is limited by a disc sensor lever portion between thefirst jaw device and the second jaw device.
 8. An apparatus comprising:a caliper configured to force a first jaw device toward a second jawdevice based on movement of a driving element; and the caliperconfigured to force the second jaw device toward the first jaw devicebased on the movement of the driving element, wherein the first jawdevice and the second jaw device form a gripper device configured toclamp a particular portion of a storage disc based on a storage discsensor, the particular portion comprising an arc segment along an outeredge of adjacent surfaces of the storage disc.
 9. The apparatus of claim8, wherein the particular portion is a data free surface of a storagedisc, and the apparatus is configured to clamp and release storage discsin a disc storage system.
 10. The apparatus of claim 9, furthercomprising a disc sensor configured to sense presence of a storage discand to limit insertion travel of a storage disc between the first jawdevice and the second jaw device.
 11. The apparatus of claim 10,wherein: the disc sensor limits movement of a storage disc within thegripper device by providing an ingress stop.
 12. The apparatus of claim9, further comprising a disc sensor disposed between the first jawdevice and the second jaw device, wherein the disc sensor is configuredto sense presence of a storage disc and to limit insertion travel of astorage disc between the first jaw device and the second jaw device. 13.The apparatus of claim 8, wherein the first jaw device and the secondjaw device each having a shape: configured to limit a contact area, asubtended angle, and edges chamfered to guide and align a storage discentering between the first jaw device and the second jaw devicevertically or laterally.
 14. The apparatus of claim 8, wherein power isapplied to a driving element to both release and to grip a storage discby the gripper device, and the storage disc remains released or clampedin an absence of power applied to the motor.
 15. The apparatus of claim14, wherein the driving element comprises a drive screw configured tomove the caliper with one or more rollers and pins that contact wedgeramps of each of the first jaw device and the second jaw device to applyor release pressure on the storage disc.
 16. An apparatus comprising: amotor coupled to a drive element; and a gripper device coupled to thedrive element, the gripper device including: a caliper configured toforce a first jaw device toward a second jaw device based on movement ofthe driving element; and wherein the first jaw device and the second jawdevice are configured to clamp a particular portion of a storage discbased on sensing information from a storage disc sensor, the particularportion comprising an arc segment along an outer edge of adjacentsurfaces of the storage disc.
 17. The apparatus of claim 16, wherein:the particular portion is a data free surface of a storage disc; theapparatus is configured to clamp and release storage discs in a discstorage system; the disc sensor is configured to sense presence of astorage disc and to limit insertion travel of a storage disc between thefirst jaw device and the second jaw device; power is applied to themotor to both release and to grip a storage disc by the gripper device;and the storage disc remains released or clamped in an absence of powerapplied to the motor.
 18. The apparatus of claim 16, wherein: thedriving element comprises a drive screw configured to move each of thefirst caliper and the second caliper with one or more of rollers andpins that contact wedge ramps of each of the first jaw device and thesecond jaw device to apply or release pressure on the storage disc frontand back surfaces.